/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "remote_control.h"
#include "pid.h"
#include "Yaw.h"
#include "Chassis.h"
#include "Pitch.h"
#include "Elevator.h"
#include "off_protect.h"
#include "CAN_receive.h"
#include "Suction_cup.h"
#include "cup_motor.h"
#include "Door_motor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int control_flag=0;
void robot_control(void){
    if (control_flag) {
        Suction_control();
        cup_motor_control();
        door_motor_control();
        Yaw_control(rc_ctrl.rc.ch[0]);
        Pitch_control(rc_ctrl.rc.ch[1]);
        Elevator_control(rc_ctrl.rc.ch[1]);
        Chassis_speedcontrol();
        CAN1_cmd(pid_speed_Chassis_R.out, pid_speed_Chassis_L.out,
                 pid_speed_Pitch.out, pid_speed_Elevator.out);
        control_flag=0;
    }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART3_UART_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  remote_control_init();
    HAL_TIM_Base_Start(&htim1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
    fp32 PID_s_Y[3]={50,20,0.0f};
    fp32 PID_a_Y[3]={0.041f,0.0f,0.0f};
    fp32 PID_s_P[3]={2.0f,0.1f,0.0f};
    fp32 PID_a_P[3]={0.15f,0.0f,0.0f};
    fp32 PID_s_E[3]={2.0f,0.1f,0.0f};
    fp32 PID_a_E[3]={0.15f,0.0f,0.0f};
    fp32 PID_s_C[3]={5.8f,0.02f,1.1f};
    PID_init(&pid_speed_Yaw, PID_POSITION, PID_s_Y, 30000,0);
    PID_init(&pid_angle_Yaw, PID_POSITION, PID_a_Y, 200,0);
    PID_init(&pid_speed_Pitch, PID_POSITION, PID_s_P, 10000,1500);
    PID_init(&pid_angle_Pitch, PID_POSITION, PID_a_P, 3500,0);
    PID_init(&pid_speed_Elevator, PID_POSITION, PID_s_E, 10000,1500);
    PID_init(&pid_angle_Elevator, PID_POSITION, PID_a_E, 3500,0);
    PID_init(&pid_speed_Chassis_L, PID_POSITION, PID_s_C, 16384, 100);
    PID_init(&pid_speed_Chassis_R, PID_POSITION, PID_s_C, 16384, 100);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      off_protect();
      robot_control();
  }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
